CN109362385A - A kind of screen of trees cleaning plant and control method - Google Patents
A kind of screen of trees cleaning plant and control method Download PDFInfo
- Publication number
- CN109362385A CN109362385A CN201811404294.9A CN201811404294A CN109362385A CN 109362385 A CN109362385 A CN 109362385A CN 201811404294 A CN201811404294 A CN 201811404294A CN 109362385 A CN109362385 A CN 109362385A
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- Prior art keywords
- trees
- pedestal
- screen
- steel wire
- saw
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- 238000004140 cleaning Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 21
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 91
- 239000010959 steel Substances 0.000 claims abstract description 91
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 84
- 230000009194 climbing Effects 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000005520 cutting process Methods 0.000 claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 241000196324 Embryophyta Species 0.000 description 33
- 230000005540 biological transmission Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 15
- 230000005611 electricity Effects 0.000 description 7
- 241000269319 Squalius cephalus Species 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 244000166124 Eucalyptus globulus Species 0.000 description 2
- 244000082204 Phyllostachys viridis Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 240000007182 Ochroma pyramidale Species 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
Abstract
The application provides a kind of screen of trees cleaning plant and control method, wherein described device includes: climbing device and cleaning plant；The climbing device includes telescopic rod and the first pedestal and the second pedestal for being set to the telescopic rod both ends, and first side of base is provided with manipulator, and second side of base is provided with lower manipulator；The cleaning plant includes third pedestal and the electric wire saw for being set to the third side of base.It in device provided by the present application, is climbed on trunk using upper manipulator and lower manipulator, described device is climbed to predeterminated position upwards, is started reciprocating cam, is moved reciprocatingly in the horizontal direction to control steel wire scroll saw；Meanwhile starting screw rod, the first side arm and the second side arm are controlled to close to the movement of the position of screen of trees, that is, steel wire scroll saw is constantly subjected to displacement to the direction of screen of trees during cutting screen of trees, to screen of trees be separated with trunk itself, to realize the cutting of screen of trees.
Description
Technical field
This application involves screen of trees Removal Technology fields, and in particular to a kind of screen of trees cleaning plant and control method.
Background technique
Transmission of electricity is the important link of electric system, after usually being boosted with the electric energy that transformer issues generator, then is passed through
Breaker etc. controls equipment by the mode of the electric energy access transmission line of electricity after boosting, to realize transmission of electricity.Transmission line of electricity presses structure shape
Formula is divided into overhead transmission line and underground transmission line, wherein overhead transmission line routes the structures such as overhead line structures, conducting wire and insulator
At being erected on ground.The distance between overhead transmission line and the trees of surrounding need to be more than minimum safe distance, no
Then, it is easy to cause the generation of the accidents such as tripping, it is generally the case that will may will affect transmission line safety in overhead transmission line
Stable trees are known as screen of trees.
After having set up overhead transmission line, since the speed of growth of the trees such as eucalyptus, bamboo is very fast, and when trees
Height is higher, when the distance between trees and overhead transmission line being made to be more than safe distance, easily initiation transmission line of electricity tripping etc.
Accident, therefore, it is necessary to periodically clear up the screen of trees around transmission line of electricity.Existing screen of trees method for cleaning relies primarily on artificial behaviour
Make, for example, operator is directly connected trees using tools pollards such as handsaw, reaping hook, choppers, or using tool of cutting down trees
Root felling.
But inventor has found in the research process of the application, due to trees height is higher and some trees (such as
Eucalyptus and bamboo etc.) the material is soft, and operator can not climb to more than trees center of gravity, cause the height of pollard up to not
To requirement, and then being easy to cause the distance between trees and overhead transmission line is more than safe distance.
Summary of the invention
The application provides a kind of screen of trees cleaning plant and control method, to solve in the prior art, the height of pollard
Not the problem of not reaching requirement.
The application's, in a first aspect, providing a kind of screen of trees cleaning plant, described device includes:
Climbing device and cleaning plant are detachably connected between the climbing device and cleaning plant, the climbing device
For climbing trees, the cleaning plant is for clearing up branch；
The climbing device includes the telescopic rod being vertically arranged and the first pedestal for being respectively arranged at the telescopic rod both ends
With the second pedestal, first side of base is provided with manipulator, and second side of base is provided with lower manipulator, described
Upper manipulator and lower manipulator are adjustable clamp locking structure, respectively by first motor and the second motor control, for holding tree tightly
It is dry；The telescopic rod is used to stretch under the control of third motor, climbs on trunk to control the climbing device；
The top of first pedestal is provided with fast-assembling connecting rod, and the fast-assembling connecting rod is parallel to the telescopic rod, uses
In removably connecting the cleaning plant；
The cleaning plant includes third pedestal and the electric wire saw for being set to the third side of base；The electricity
Dynamic fret saw includes steel wire scroll saw, steel wire saw body and the first side arm and second side that are set to steel wire saw body side
Hollow sting track is provided with inside arm, first side arm and second side arm, the steel wire scroll saw passes through the sky
Cardiac skeleton track forms closing triangular structure；In the fret saw body interior, it is provided with and is in contact with the steel wire scroll saw
Reciprocating cam, the reciprocating cam be used under the control of the 4th motor, control the steel wire scroll saw and move reciprocatingly, it is described
Plane where steel wire scroll saw moves reciprocatingly is vertical with the fast-assembling connecting rod；
The third base interior is provided with screw rod, and screw rod surface is provided with horizontal slider, and the steel wire saw body protrudes into
The third pedestal, is connected with the horizontal slider, and under the control of the 5th motor, the horizontal slider is sliding on screw rod surface
It is dynamic, so that the steel wire saw body be driven to slide.
Optionally, second Chuck top is provided with arc-shaped slide rail, and the arc-shaped slide rail surface is provided with sliding block, described
Sliding block is used under the control for embracing tree rotating electric machine, is slided along the arc-shaped slide rail, and the bottom end of the telescopic rod is fixed on described
The surface of sliding block.
Optionally, the top of first pedestal is provided with the first camera, and first camera is described for shooting
Screen of trees around device.
Optionally, the side of second pedestal is provided with primary control box, and the primary control box is for controlling each cast-cutting saw slice
Movement.
Optionally, the bottom end of second pedestal is provided with second camera, and the second camera is used for described device
During climbing to the ground, the barrier between described device and ground is shot, the barrier is to stop described device
Continue the branch creeped to the ground.
Optionally, the junction of the third pedestal and the fast-assembling connecting rod is provided with electronic Universal-head, described electronic
Universal-head for rotating in the horizontal direction under the control of the 6th motor, so that the third pedestal be driven to revolve in the horizontal direction
Turn.
Optionally, the top of the third pedestal is provided with handle, when the cleaning plant is separated with the climbing device
When, the handle is held, to control the cleaning plant work.
The second aspect of the application, provides a kind of screen of trees cleaning control method, and the method is applied to primary control box, the master
Control box is set in the device of any one implementation of first aspect offer, which comprises
According to the screen of trees area in the clapped picture of the first camera, determine whether screen of trees diameter is lower than warning value；
If the screen of trees diameter be lower than warning value, controlled level sliding block screw rod surface slide so that steel wire saw body with
The area of third pedestal overlapping is maximum；
While starting screw rod movement, starting reciprocating cam movement, so that steel wire scroll saw is done back and forth in the horizontal direction
Movement；
If the screen of trees diameter is not less than warning value, tree rotating electric machine is embraced in starting, and control telescopic rod is located at arc-shaped slide rail
Different location；
At each position, start reciprocating cam, while starting screw rod movement, so that the steel wire scroll saw is in level
Side moves upwards, and stops the screw rod in the area minimum that the steel wire saw body is Chong Die with third pedestal and moves and reset.
Optionally, according to the screen of trees area in the clapped picture of the first camera, determine whether screen of trees diameter is lower than warning
Before value, further includes:
Judge whether described device position is lower than preset height；
If described device position is lower than preset height, controls climbing device and continue up climbing；
If described device position is not less than preset height, the climbing device stop motion is controlled.
Optionally, tree rotating electric machine is embraced in starting, controls the telescopic rod and is located at after the different location of arc-shaped slide rail, also
Include:
Start electronic Universal-head, controls the steel wire saw body and rotate in the horizontal direction；
Judge that the extended line of the center line and the perpendicular bisector of the first basic point to target steel wire scroll saw of screen of trees whether there is
Intersection point, wherein first basic point is the position that the first side arm side and the second side arm side are in contact, the target wire
Saw is for the first side arm far from third pedestal one end and the second side arm far from the steel wire scroll saw between third pedestal one end；
If the center line of screen of trees and the extended line of the perpendicular bisector of first basic point to the target steel wire scroll saw are deposited
In intersection point, then controls the electronic Universal-head and stop rotating.
The application provides a kind of screen of trees cleaning plant and control method, wherein described device includes: climbing device and cleaning
Device；The climbing device includes telescopic rod and the first pedestal and the second pedestal for being set to the telescopic rod both ends, and described
One side of base is provided with manipulator, and second side of base is provided with lower manipulator；The top of first pedestal is set
It is equipped with movable connecting rod, the movable connecting rod is parallel to the telescopic rod, for connecting the cleaning plant；The cleaning dress
Set including third pedestal and be set to the electric wire saw of the third side of base；The electric wire saw includes wire
Saw, steel wire saw body and the first side arm and the second side arm that are set to steel wire saw body side, the third base interior
It is provided with screw rod, screw rod surface is provided with horizontal slider.
In device provided by the present application, climbed on trunk using upper manipulator and lower manipulator, described device is climbed upwards
It climbs to predeterminated position, starts reciprocating cam, move reciprocatingly in the horizontal direction to control steel wire scroll saw；Meanwhile it opening
Dynamic screw rod drives steel wire saw body to mobile close to the position of screen of trees so that horizontal slider moves on screw rod, thus control the
One side arm and the second side arm are to close to the movement of the position of screen of trees, that is to say, that steel wire scroll saw is continuous during cutting screen of trees
It is subjected to displacement to the direction of screen of trees, to screen of trees be separated with trunk itself, to realize the cutting of screen of trees.It is provided by the present application
Device carries out screen of trees cleaning using steel wire scroll saw, and during cleaning, the operation of climbing trunk, cleaning are executed by climbing device
Device executes the operation of cleaning screen of trees, and climbing device can be climbed to more than trees center of gravity, to solve in the prior art, behaviour
Make the problem of personnel can not climb to more than trees center of gravity, the height of pollard is caused not reach requirement.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of structural schematic diagram of screen of trees cleaning plant provided by the embodiments of the present application；
Fig. 2 is a kind of side elevation view structural schematic diagram of screen of trees cleaning plant provided by the embodiments of the present application；
Fig. 3 is the structural schematic diagram of cleaning plant in a kind of screen of trees cleaning plant provided by the embodiments of the present application；
Fig. 4 is the side elevation view structural schematic diagram of cleaning plant in a kind of screen of trees cleaning plant provided by the embodiments of the present application；
Fig. 5 is in a kind of screen of trees cleaning plant provided by the embodiments of the present application, and cleaning plant looks up face structural schematic diagram；
Fig. 6 is the workflow schematic diagram that a kind of screen of trees provided by the embodiments of the present application clears up control method.
It illustrates: 1- climbing device；2- cleaning plant；11- telescopic rod；The first pedestal of 12-；The second pedestal of 13-；14-
Upper manipulator；Manipulator under 15-；16- fast-assembling connecting rod；17- arc-shaped slide rail；171- sliding block；The first camera of 18-；19- master control
Box；21- third pedestal；22- electric wire saw；23- second camera；131- embraces tree rotating electric machine；211- screw rod；212- is horizontal
Sliding block；The electronic Universal-head of 213-；214- handle；221- steel wire saw body；The first side arm of 222-；The second side arm of 223-；224- steel
Silk thread saw；225- hollow sting track；226- reciprocating cam.
Specific embodiment
The application is described in detail below.
Structural schematic diagram shown in referring to Figures 1 and 2, the application provide a kind of screen of trees cleaning plant, and described device includes:
Climbing device 1 and cleaning plant 2 are detachably connected between the climbing device 1 and cleaning plant 2, and the climbing device 1 is used for
Climbing trees, the cleaning plant 2 is for clearing up branch.
The climbing device 1 includes the telescopic rod 11 being vertically arranged and is respectively arranged at the first of 11 both ends of telescopic rod
Pedestal 12 and the second pedestal 13,12 side of the first pedestal are provided with manipulator 14,13 side of the second pedestal setting
There is lower manipulator 15, the upper manipulator 14 and lower manipulator 15 are adjustable clamp locking structure, respectively by first motor and
Two motor controls, for holding trunk tightly；The telescopic rod 11 is used to stretch under the control of third motor, to climb described in control
Device 1 is climbed to climb on trunk.
Climbing device 1 provided by the embodiments of the present application can realize automatic climbing function, and climbing device 1 is in the feelings for holding trunk tightly
When continuing up climbing under condition, first motor controls upper manipulator 14 and unclamps trunk, and telescopic rod 11 is under the control of third motor
Elongation, so that upper manipulator 14 is mobile to the direction far from lower manipulator 15, after the completion of mobile, upper manipulator 14 holds tree tightly again
Dry, then, lower manipulator 15 unclamps trunk under the control of the second motor, and telescopic rod 11 is received under the control of third motor again
Contracting, so that lower manipulator 15 is and so on moved to close to the movement of the direction of upper manipulator 14, to realize automatic climbing function
Energy.When climbing device is climbed downwards, run according to opposite movement.
The top of first pedestal 12 is provided with fast-assembling connecting rod 16, and the fast-assembling connecting rod 16 is parallel to described flexible
Bar 11, for removably connecting the cleaning plant 2.In a kind of achievable mode, fast-assembling connecting rod 16 with
Slotting mode is connected with the cleaning plant 2 fastly, and the mode easy cleaning device 2 inserted fastly mounts and separates, when cleaning fills
When setting 2 and the separation of climbing device 1, the scale removal process that cleaning plant 2 realizes screen of trees can be controlled separately.
Referring to Fig. 3, Fig. 4 and structural schematic diagram shown in fig. 5, the cleaning plant 2 includes third pedestal 21 and sets
It is placed in the electric wire saw 22 of 21 side of third pedestal；The electric wire saw 22 includes steel wire scroll saw 224, fret saw sheet
Body 221 and the first side arm 222 and the second side arm 223 for being set to 221 side of steel wire saw body, first side arm 222
Be provided with hollow sting track 225 inside second side arm 223, the steel wire scroll saw 224 passes through the hollow sting
Track 225 forms closing triangular structure；Inside the steel wire saw body 221, it is provided with and connects with the steel wire scroll saw 224
The reciprocating cam 226 of touching, the reciprocating cam 226 be used under the control of the 4th motor, control the steel wire scroll saw 224 do it is past
Multiple movement, the plane where the steel wire scroll saw 224 moves reciprocatingly are vertical with the fast-assembling connecting rod 16.
In the embodiment of the present application, the first side arm 222 and the second side arm 223 are respectively provided with far from the endpoint of steel wire saw body 221
Have V groove bearing, steel wire scroll saw 224 can slide on V groove bearing surface, in addition, steel wire saw body 221 be internally provided with it is reciprocal convex
Wheel 226, steel wire scroll saw 224 is tightly attached to the outer wall of V groove bearing and reciprocating cam 226, so that steel wire scroll saw 224 is formed with two
V groove bearing and a reciprocating cam 226 are the triangular structure on vertex, and triangular structure high stability can reduce steel wire
The deformation of scroll saw 224 in use.
The third pedestal 21 is internally provided with screw rod 211, and 211 surface of screw rod is provided with horizontal slider 212, the steel wire
Saw body 221 protrudes into the third pedestal 21, is connected with the horizontal slider 212, under the control of the 5th motor, the water
Smooth block 212 slides on 211 surface of screw rod, so that the steel wire saw body 221 be driven to slide.
In the embodiment of the present application, steel wire saw body 221 is during the drive lower slider of horizontal slider 212, wire
Saw 224 equally follows the horizontal sliding of the steel wire saw body 221.Clear up screen of trees before, by the steel wire saw body 221 adjust to
Initial position, initial position, that is, steel wire saw body 221 and the maximum position of 21 overlapping area of third pedestal；When clearing up screen of trees, one
Aspect opens the 4th motor, so that steel wire scroll saw 224 moves reciprocatingly, on the other hand, while opening the 5th motor, controls steel
Silk saw body 221 slides in the horizontal direction so that steel wire scroll saw 224 is constantly far from third pedestal 21, steel wire scroll saw 224 it is past
Multiple movement combines the sliding in horizontal direction, to realize the cleaning work of screen of trees.
From the above technical scheme, it in device provided by the present application, is being set using upper manipulator 14 and lower manipulator 15
Dry upper climbing, described device climb to predeterminated position upwards, start reciprocating cam 226, exist to control steel wire scroll saw 224
It moves reciprocatingly in horizontal direction；Meanwhile starting screw rod 211, so that horizontal slider 212 moves on screw rod 211, drive steel wire
The position of saw body 221 to close screen of trees is mobile, to control the first side arm 222 and the second side arm 223 to the position close to screen of trees
Set movement, that is to say, that steel wire scroll saw is constantly subjected to displacement to the direction of screen of trees during cutting screen of trees, thus by screen of trees
It is separated with trunk itself, to realize the cutting of screen of trees.Device provided by the present application carries out screen of trees cleaning using steel wire scroll saw,
During cleaning, the operation of climbing trunk is executed by climbing device 1, cleaning plant 2 executes the operation of cleaning screen of trees, climbing dress
Setting 1 can climb to more than trees center of gravity, to solve in the prior art, operator can not climb to trees center of gravity with
On, the problem of causing the height of pollard not reach requirement.
Structural schematic diagram shown in referring to Figures 1 and 2,13 top of the second pedestal is provided with arc-shaped slide rail 17, described
17 surface of arc-shaped slide rail is provided with sliding block 171, and the sliding block 171 is used under the control for embracing tree rotating electric machine 131, along the arc
Shape sliding rail 17 slides, and the surface of the sliding block 171 is fixed in the bottom end of the telescopic rod 11.
When clearing up screen of trees, if the diameter of screen of trees is greater than warning value, needs to start and embrace tree rotating electric machine 131, increase steel
The stroke of silk thread saw 224, enables the biggish screen of trees of device cutting diameter provided by the present application.
Structural schematic diagram shown in referring to Figures 1 and 2, the top of first pedestal 12 are provided with the first camera 18,
First camera 18 is used to shoot the screen of trees around described device.
Structural schematic diagram shown in referring to Figures 1 and 2, the side of second pedestal 13 is provided with primary control box 19, described
Primary control box 19 is used to control the movement of each cast-cutting saw slice.
Referring to structural schematic diagram shown in Fig. 2, the bottom end of second pedestal 13 is provided with second camera 23, and described
Two cameras 23 during climbing to the ground, shoot the barrier between described device and ground, institute for described device
Stating barrier is the branch for stopping described device to continue to creep to the ground.
Structural schematic diagram shown in referring to Fig.1, the third pedestal 21 and the junction of the fast-assembling connecting rod 16 are arranged
There is electronic Universal-head 213, the electronic Universal-head 213 for rotating in the horizontal direction under the control of the 6th motor, thus band
The third pedestal 21 is moved to rotate in the horizontal direction.
Referring to structural schematic diagram shown in Fig. 3, the top of the third pedestal 21 is provided with handle 214, when the cleaning
When device 2 is separated with the climbing device 1, the handle 214 is held, is worked with controlling the cleaning plant 2.
Referring to work flow diagram shown in fig. 6, the embodiment of the present application provides a kind of screen of trees cleaning control method, the method
Applied to primary control box 19, the primary control box 19 is set in the device that Fig. 1 or Fig. 2 is provided, and the described method comprises the following steps:
Step 101, according to the screen of trees area in the clapped picture of the first camera 18, determine whether screen of trees diameter is lower than warning
Value.
In this step, primary control box 19 analyzes the screen of trees face in image after getting 18 shot image of the first camera
Product, in the case where the first camera 18 is equidistant with screen of trees, screen of trees diameter is bigger, then in 18 shot image of the first camera
Screen of trees area proportion is bigger, since the field range of the first camera 18 is constant, preset the police of screen of trees area
Ring value.Screen of trees area is compared with preset warning value, if screen of trees area is lower than warning value, executes step 102
Operation；If screen of trees area is not less than warning value, the operation of step 104 is executed.
Step 102, if the screen of trees diameter is lower than warning value, controlled level sliding block 212 slides on 211 surface of screw rod, makes
It is maximum to obtain the area Chong Die with third pedestal 21 of steel wire saw body 221.
Step 103, while starting the movement of screw rod 211, starting reciprocating cam 226 is moved, so that steel wire scroll saw 224 exists
It moves reciprocatingly in horizontal direction.
In this step, in the case where the 5th motor is opened, 211 setting in motion of screw rod, so that horizontal slider 212 is in screw rod
The sliding of 211 surfaces, horizontal slider 212 are connected with steel wire saw body 221, and therefore, 212 sliding of horizontal slider drives steel wire
Saw body 221 slides in the horizontal direction, that is, the direction of steel wire scroll saw 224 to close screen of trees is mobile, so that steel wire scroll saw 224
It is gradually contacted with screen of trees, after contact, due to the effect of frictional force between steel wire scroll saw 224 and screen of trees, so that screen of trees and wire
The contact surface of saw 224 is constantly worn.In addition, as steel wire scroll saw 224 is constantly promoted to the direction close to screen of trees, until screen of trees
It is separated with trunk, i.e. the work of completion screen of trees cleaning.
Step 104, if the screen of trees diameter is not less than warning value, tree rotating electric machine 131 is embraced in starting, controls telescopic rod 11
In the different location of arc-shaped slide rail 17.
Step 105, at each position, start reciprocating cam 226, while starting the movement of screw rod 211, so that described
Steel wire scroll saw 224 moves in the horizontal direction, stops in the area minimum that the steel wire saw body 221 is Chong Die with third pedestal 21
Only the screw rod 211 is moved and is resetted.
In this step, when steel wire scroll saw 224 executes cutting operation to screen of trees at a position, even if steel wire saw body
221 slide into greatest extent in the horizontal direction, since screen of trees diameter is excessive, are still difficult to for screen of trees and trunk being kept completely separate,
Therefore, the different location that control telescopic rod 11 is located at arc-shaped slide rail 17 executes cutting operation at different locations respectively, multiple
The cutting operation result of position is superimposed, so that screen of trees is kept completely separate with trunk, realizes the purpose of cleaning screen of trees.
Optionally, according to the screen of trees area in the clapped picture of the first camera 18, determine whether screen of trees diameter is lower than police
It is further comprising the steps of before ring value:
Step 201, judge whether described device position is lower than preset height.If primary control box 19 determines described device institute
In place set low thened follow the steps in preset height 202 operation；If being not less than preset height, 203 operation is thened follow the steps.
Step 202, it if described device position is lower than preset height, controls climbing device 1 and continues up climbing.
Step 203, if described device position is not less than preset height, 1 stop motion of climbing device is controlled.
Optionally, tree rotating electric machine 131 is embraced in starting, controls the different location that the telescopic rod 11 is located at arc-shaped slide rail 17
Later, further comprising the steps of:
Step 301, start electronic Universal-head 213, control the steel wire saw body 221 and rotate in the horizontal direction.
Step 302, judge screen of trees center line and the first basic point to target steel wire scroll saw perpendicular bisector extended line
With the presence or absence of intersection point, wherein described is the position that first the first side arm of basic point, 222 side and 223 side of the second side arm are in contact,
The target steel wire scroll saw is for the first side arm 222 far from 21 one end of third pedestal and the second side arm 223 far from third pedestal 21 1
Steel wire scroll saw 224 between end.
In this step, if primary control box 19 determines center line and the first basic point to vertical the dividing equally of target steel wire scroll saw of screen of trees
There are intersection points for the extended line of line, then follow the steps 303 operation；If primary control box 19 determines that the center line of screen of trees is arrived with the first basic point
The extended line of the perpendicular bisector of target steel wire scroll saw does not have intersection point, then controls cleaning plant 2 in the electronic Universal-head 213
Continue to rotate under control, until there are intersection points.
Step 303, if the center line of screen of trees and the perpendicular bisector of first basic point to the target steel wire scroll saw
There are intersection points for extended line, then control the electronic Universal-head 213 and stop rotating.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Based on this understanding, ARM single-chip microcontroller framework is integrated with inside primary control box 19,
Substantially the part that contributes to existing technology can be with software product in other words for technical solution in the embodiment of the present invention
Form embodies, and software used in the present invention is that the down of chip is written to enter formula software, for execute each embodiment of the present invention or
Method described in certain parts of person's embodiment.
Combine detailed description and exemplary example that the application is described in detail above, but these explanations are simultaneously
It should not be understood as the limitation to the application.It will be appreciated by those skilled in the art that without departing from the application spirit and scope,
A variety of equivalent substitution, modification or improvements can be carried out to technical scheme and embodiments thereof, these each fall within the application
In the range of.The protection scope of the application is determined by the appended claims.
Claims (10)
1. a kind of screen of trees cleaning plant, which is characterized in that described device includes:
Climbing device (1) and cleaning plant (2) are detachably connected between the climbing device (1) and cleaning plant (2), described
Climbing device (1) is used for climbing trees, and the cleaning plant (2) is for clearing up branch；
The climbing device (1) include the telescopic rod (11) being vertically arranged and be respectively arranged at the telescopic rod (11) both ends
One pedestal (12) and the second pedestal (13), the first pedestal (12) side are provided with manipulator (14), second pedestal
(13) side is provided with lower manipulator (15), and the upper manipulator (14) and lower manipulator (15) are adjustable clamp locking structure,
Respectively by first motor and the second motor control, for holding trunk tightly；The telescopic rod (11) is used for the control in third motor
It is lower flexible, it is climbed on trunk to control the climbing device (1)；
The top of first pedestal (12) is provided with fast-assembling connecting rod (16), and the fast-assembling connecting rod (16) is parallel to described stretch
Contracting bar (11), for removably connecting the cleaning plant (2)；
The cleaning plant (2) includes third pedestal (21) and the electric wire saw for being set to third pedestal (21) side
(22)；Electric wire saw (22) includes steel wire scroll saw (224), steel wire saw body (221) and is set to the fret saw sheet
First side arm (222) and the second side arm (223) of body (221) side, first side arm (222) and second side arm
(223) internal to be provided with hollow sting track (225), the steel wire scroll saw (224) passes through the hollow sting track (225)
Form closing triangular structure；It is internal in the steel wire saw body (221), it is provided with and is in contact with the steel wire scroll saw (224)
Reciprocating cam (226), the reciprocating cam (226) be used under the control of the 4th motor, control the steel wire scroll saw (224)
It moves reciprocatingly, the plane where the steel wire scroll saw (224) moves reciprocatingly is vertical with fast-assembling connecting rod (16)；
The third pedestal (21) is internally provided with screw rod (211), and screw rod (211) surface is provided with horizontal slider (212), described
Steel wire saw body (221) protrudes into the third pedestal (21), is connected with the horizontal slider (212), in the control of the 5th motor
Under system, the horizontal slider (212) is slided on screw rod (211) surface, so that the steel wire saw body (221) be driven to slide.
2. the apparatus according to claim 1, which is characterized in that the second pedestal (13) top is provided with arc-shaped slide rail
(17), arc-shaped slide rail (17) surface is provided with sliding block (171), and the sliding block (171) is used to embrace tree rotating electric machine (131)
Control under, along the arc-shaped slide rail (17) slide, the table of the sliding block (171) is fixed in the bottom end of the telescopic rod (11)
Face.
3. the apparatus according to claim 1, which is characterized in that the top of first pedestal (12) is provided with the first camera shooting
Head (18), first camera (18) are used to shoot the screen of trees around described device.
4. device according to claim 3, which is characterized in that the side of second pedestal (13) is provided with primary control box
(19), the primary control box (19) is used to control the movement of each cast-cutting saw slice.
5. device according to claim 4, which is characterized in that the bottom end of second pedestal (13) is provided with the second camera shooting
Head (23), the second camera (23) during climbing to the ground, shoot described device and ground for described device
Between barrier, the barrier is that described device is stopped to continue the branch creeped to the ground.
6. the apparatus according to claim 1, which is characterized in that the third pedestal (21) and the fast-assembling connecting rod (16)
Junction be provided with electronic Universal-head (213), the electronic Universal-head (213) is used for horizontal in the control lower edge of the 6th motor
Direction rotates, so that the third pedestal (21) be driven to rotate in the horizontal direction.
7. device according to claim 6, which is characterized in that the top of the third pedestal (21) is provided with handle
(214), when the cleaning plant (2) is separated with the climbing device (1), the handle (214) are held, it is described clear to control
Manage device (2) work.
8. a kind of screen of trees clears up control method, which is characterized in that the method is applied to primary control box (19), the primary control box (19)
It is set in device according to any one of claims 1 to 7, which comprises
According to the screen of trees area in the first camera (18) clapped picture, determine whether screen of trees diameter is lower than warning value；
If the screen of trees diameter is lower than warning value, controlled level sliding block (212) slides on screw rod (211) surface, so that fret saw
Ontology (221) area Chong Die with third pedestal (21) is maximum；
While starting screw rod (211) movement, starting reciprocating cam (226) movement, so that steel wire scroll saw (224) is in level side
It moves reciprocatingly upwards；
If the screen of trees diameter is not less than warning value, tree rotating electric machine (131) are embraced in starting, and it is sliding that control telescopic rod (11) is located at arc
The different location of rail (17)；
At each position, start reciprocating cam (226), while starting screw rod (211) movement, so that the steel wire scroll saw
(224) it moves, stops in the area minimum that the steel wire saw body (221) is Chong Die with third pedestal (21) in the horizontal direction
The screw rod (211) moves and resets.
9. according to the method described in claim 8, it is characterized in that, according to the screen of trees in the first camera (18) clapped picture
Area, determines whether screen of trees diameter is lower than before warning value, further includes:
Judge whether described device position is lower than preset height；
If described device position is lower than preset height, controls climbing device (1) and continue up climbing；
If described device position is not less than preset height, the climbing device (1) stop motion is controlled.
10. according to the method described in claim 8, it is characterized in that, being stretched described in control in starting armful tree rotating electric machine (131)
Contracting bar (11) is located at after the different location of arc-shaped slide rail (17), further includes:
Start electronic Universal-head (213), controls the steel wire saw body (221) and rotate in the horizontal direction；
Judge screen of trees center line and the first basic point to target steel wire scroll saw perpendicular bisector extended line with the presence or absence of intersection point,
Wherein, first basic point is the position that the first side arm (222) side and the second side arm (223) side are in contact, the target
Steel wire scroll saw is the first side arm (222) far from third pedestal (21) one end and the second side arm (223) separate third pedestal (21) one
Steel wire scroll saw (224) between end；
If the extended line of the center line of screen of trees and the perpendicular bisector of first basic point to the target steel wire scroll saw exists and hands over
Point then controls the electronic Universal-head (213) and stops rotating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811404294.9A CN109362385A (en) | 2018-11-23 | 2018-11-23 | A kind of screen of trees cleaning plant and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811404294.9A CN109362385A (en) | 2018-11-23 | 2018-11-23 | A kind of screen of trees cleaning plant and control method |
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| Publication Number | Publication Date |
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| CN109362385A true CN109362385A (en) | 2019-02-22 |
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ID=65383145
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811404294.9A Pending CN109362385A (en) | 2018-11-23 | 2018-11-23 | A kind of screen of trees cleaning plant and control method |
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| CN110012744A (en) * | 2019-05-06 | 2019-07-16 | 汤小梅 | A kind of Vertical Lift climbing razor for branch pruning |
| CN110189311A (en) * | 2019-05-24 | 2019-08-30 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of calculation method of transmission line of electricity screen of trees hidden danger region trees felling area |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
| CN113813576A (en) * | 2021-09-06 | 2021-12-21 | 国网浙江宁波市奉化区供电有限公司 | Intelligent pole climbing device based on binocular vision |
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